METHOD FOR DYNAMICALLY CALIBRATING VEHICULAR CAMERAS
First Claim
1. A method for dynamically correcting rotational misalignment of a vehicular camera, the method comprising:
- (a) fixedly disposing a camera at a vehicle, said camera having a field of view exterior of the equipped vehicle;
(b) driving the equipped vehicle so that the equipped vehicle is in motion and is moving generally in a straight line;
(c) operating said camera to acquire multiple frames of image data captured by said camera whilst the equipped vehicle is in motion;
(d) selecting a plurality of sets of feature points in an image frame, wherein each set comprises a first feature point and a second feature point;
(e) for each set of feature points, tracking in subsequent image frames a motion trajectory of that set'"'"'s first feature point and second feature point;
(f) for each tracked first feature point and second feature point, establishing a vanishing point in the image plane;
(g) based on establishing vanishing points in the image plane by tracking respective first and second feature points for a plurality of sets of feature points, determining a vanishing line in the image plane provided by said camera based on a locus of the vanishing points;
(h) determining whether the vanishing line is horizontal or non-horizontal in the image plane; and
(i) when the vanishing line is determined to be non-horizontal in the image plane, adjusting at least one of pitch, roll or yaw of said camera to correct rotational misalignment of said camera.
0 Assignments
0 Petitions
Accused Products
Abstract
A method for dynamically correcting misalignment of a vehicular camera includes fixedly disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data whilst the vehicle is moving generally in a straight line. A plurality of sets of feature points are selected in an image frame, with each set including a first feature point and a second feature point. For each set of feature points, a motion trajectory of that set'"'"'s feature points is tracked in subsequent image frames. For each tracked first and second feature points, a vanishing point is established in the image plane. Based on the established vanishing point, a vanishing line is determined in the image plane. When the vanishing line is determined to be non-horizontal in the image plane, at least one of pitch, roll or yaw of the camera is adjusted to correct rotational misalignment of the camera.
-
Citations
20 Claims
-
1. A method for dynamically correcting rotational misalignment of a vehicular camera, the method comprising:
-
(a) fixedly disposing a camera at a vehicle, said camera having a field of view exterior of the equipped vehicle; (b) driving the equipped vehicle so that the equipped vehicle is in motion and is moving generally in a straight line; (c) operating said camera to acquire multiple frames of image data captured by said camera whilst the equipped vehicle is in motion; (d) selecting a plurality of sets of feature points in an image frame, wherein each set comprises a first feature point and a second feature point; (e) for each set of feature points, tracking in subsequent image frames a motion trajectory of that set'"'"'s first feature point and second feature point; (f) for each tracked first feature point and second feature point, establishing a vanishing point in the image plane; (g) based on establishing vanishing points in the image plane by tracking respective first and second feature points for a plurality of sets of feature points, determining a vanishing line in the image plane provided by said camera based on a locus of the vanishing points; (h) determining whether the vanishing line is horizontal or non-horizontal in the image plane; and (i) when the vanishing line is determined to be non-horizontal in the image plane, adjusting at least one of pitch, roll or yaw of said camera to correct rotational misalignment of said camera. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A method for dynamically correcting rotational misalignment of a vehicular camera, the method comprising:
-
(a) fixedly disposing a camera at a portion of a vehicle, said camera having a field of view exterior of the equipped vehicle and wherein said camera comprises a wide angle lens; (b) driving the equipped vehicle so that the equipped vehicle is in motion and is moving generally in a straight line; (c) operating said camera to acquire multiple frames of image data captured by said camera whilst the equipped vehicle is in motion; (d) removing distortion caused by use of the wide angle lens; (e) selecting a plurality of sets of feature points in an image frame, wherein each set comprises a first feature point and a second feature point; (f) for each set of feature points, tracking in subsequent image frames a motion trajectory of that set'"'"'s first feature point and second feature point; (g) for each tracked first feature point and second feature point, establishing a vanishing point in the image plane; (h) based on establishing vanishing points in the image plane by tracking respective first and second feature points for a plurality of sets of feature points, determining a vanishing line in the image plane provided by said camera based on a locus of the vanishing points; (i) determining whether the vanishing line is horizontal or non-horizontal in the image plane; and (j) when the vanishing line is determined to be non-horizontal in the image plane, adjusting at least one of pitch, roll or yaw of said camera to correct rotational misalignment of said camera. - View Dependent Claims (15, 16, 17)
-
-
18. A method for dynamically correcting rotational misalignment of a vehicular camera, the method comprising:
-
(a) fixedly disposing a camera at a portion of a vehicle, said camera having a field of view exterior of the equipped vehicle and wherein said camera comprises a wide angle lens; (b) driving the equipped vehicle so that the equipped vehicle is in motion and is moving generally in a straight line; (c) operating said camera to acquire multiple frames of image data captured by said camera whilst the equipped vehicle is in motion; (d) removing distortion caused by use of the wide angle lens; (e) receiving vehicle data via a communication bus of the equipped vehicle, the received vehicle data including speed data and steering angle data of the equipped vehicle; (f) selecting a plurality of sets of feature points in an image frame, wherein each set comprises a first feature point and a second feature point; (g) for each set of feature points, tracking in subsequent image frames a motion trajectory of that set'"'"'s first feature point and second feature point; (h) for each tracked first feature point and second feature point, establishing a vanishing point in the image plane; (i) based on establishing vanishing points in the image plane by tracking respective first and second feature points for a plurality of sets of feature points, determining a vanishing line in the image plane provided by said camera based on a locus of the vanishing points; (j) determining whether the vanishing line is horizontal or non-horizontal in the image plane; and (k) when the vanishing line is determined to be non-horizontal in the image plane, adjusting at least one of pitch, roll or yaw of said camera to correct rotational misalignment of said camera. - View Dependent Claims (19, 20)
-
Specification